version: 66.10
glider: 163
mission: 3
dive: 14
start: 4 16 114 6 27 8
data:
$ID,163
$MISSION,3
$DIVE,14
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,165
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,65
$T_MISSION,80
$T_ABORT,720
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51722
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,1942
$TGT_DEFAULT_LON,11848
$TGT_AUTO_DEFAULT,0
$SM_CC,320
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,73
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1396804.9
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3886
$C_PITCH,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,198
$ROLL_MAX,3809
$ROLL_DEG,40
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,1906
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.808033
$PRESSURE_SLOPE,0.00011605668
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,3.8499999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,83
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,-1
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004370783
$SEABIRD_T_H,0.00063893938
$SEABIRD_T_I,2.6964792e-05
$SEABIRD_T_J,3.1314887e-06
$SEABIRD_C_G,-9.7295246
$SEABIRD_C_H,1.088999
$SEABIRD_C_I,-0.0021791991
$SEABIRD_C_J,0.00024473958
$MI_OFFLOAD,1.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_NOTIFYMOTORS,0.0
$GPS1,160414,060721,4744.641,-12224.520,3,1.0,38,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-63.3
$GPS2,160414,062626,4744.956,-12224.348,5,1.0,39,16.3
$SPEED_LIMITS,0.147,0.278
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.059,-0.271
$KALMAN_X,1848.5,-99.1,456.1,-2305.3,217.9
$KALMAN_Y,749.5,-419.0,483.0,3007.9,944.5
$MHEAD_RNG_PITCHd_Wd,176.0,1780,-12.5,-8.462
$D_GRID,165
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.88,-195.4,0.0,0.0,0,61,0.00,0.00,-45.20,0.000,2,0.000,0.000,125,1961,1875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.88,-195.4,3.7,-8.6,4,96,9.90,2.30,-16.80,0.000,4,0.238,0.064,2558,543,2703,0,0,0,0,0,0,25.29,25.46,25.46
$GC,104,-0.88,-195.4,12.5,-18.8,8,115,0.00,2.17,0.00,0.000,6,0.000,0.037,2549,1951,2703,0,0,0,0,0,0,28.83,25.49,28.83
$GC,192,-0.88,-195.4,28.4,-19.2,21,203,0.00,2.20,0.00,0.000,4,0.000,0.050,2540,3359,2703,0,0,0,0,0,0,28.83,25.56,28.83
$GC,230,-0.88,-195.4,34.7,-16.4,26,241,0.00,2.15,0.00,0.000,6,0.000,0.031,2540,1948,2703,0,0,0,0,0,0,28.83,25.15,28.83
$GC,319,-0.88,-195.4,48.9,-16.1,39,330,0.00,2.20,0.00,0.000,4,0.000,0.052,2540,542,2703,0,0,0,0,0,0,28.83,25.63,28.83
$GC,362,-0.88,-195.4,55.6,-16.2,43,375,0.10,2.20,0.00,0.000,6,0.155,0.037,2559,1953,2703,0,0,0,0,0,0,25.56,25.66,28.83
$GC,494,-0.88,-195.4,73.5,-13.2,56,507,0.00,2.15,0.00,0.000,4,0.000,0.050,2551,3350,2703,0,0,0,0,0,0,28.83,25.69,28.83
$GC,510,-0.88,-195.4,74.7,-13.1,57,523,0.00,2.20,0.00,0.000,6,0.000,0.031,2551,1943,2703,0,0,0,0,0,0,28.83,25.70,28.83
$GC,641,-0.88,-195.4,94.1,-14.4,70,654,0.00,2.17,0.00,0.000,4,0.000,0.052,2550,537,2703,0,0,0,0,0,0,28.83,25.72,28.83
$GC,763,-0.88,-195.4,112.6,-14.8,79,768,0.00,2.15,0.00,0.000,6,0.000,0.037,2541,1961,2703,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1079,-0.88,-195.4,156.7,-14.1,100,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1961,2703,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1137,begin apogee
$GC,1140,-0.26,0.0,166.1,-15.7,104,1307,0.70,0.00,154.35,0.616,6,0.125,0.000,2761,1795,1905,0,0,0,0,0,0,25.63,28.83,24.14
$STATE,1308,end apogee,CONTROL_FINISHED_OK
$STATE,1308,begin climb
$GC,1309,0.88,195.4,176.2,0.0,115,1473,1.12,2.35,154.65,0.598,4,0.074,0.054,3141,402,1108,0,0,0,0,0,0,24.70,24.51,24.08
$GC,1498,0.88,198.2,168.3,8.4,127,1511,0.00,2.25,3.95,0.370,6,0.000,0.034,3147,1800,1096,0,0,0,0,0,0,28.83,24.82,24.35
$GC,1808,0.88,198.2,136.3,10.9,148,1812,0.00,2.15,0.00,0.000,4,0.000,0.047,3147,3196,1093,0,0,0,0,0,0,28.83,25.51,28.83
$GC,1890,0.88,198.2,126.2,12.6,153,1895,0.00,2.20,0.00,0.000,6,0.000,0.033,3157,1799,1096,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2201,0.88,198.2,87.7,11.1,177,2214,0.00,2.17,0.00,0.000,4,0.000,0.054,3168,398,1092,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2299,0.88,198.2,76.6,11.9,185,2312,0.10,2.17,0.00,0.000,6,0.144,0.034,3137,1806,1091,0,0,0,0,0,0,25.64,25.74,28.83
$GC,2430,0.88,198.2,62.9,9.4,198,2443,0.00,2.20,0.00,0.000,4,0.000,0.054,3146,398,1091,0,0,0,0,0,0,28.83,25.73,28.83
$GC,2458,0.88,198.2,60.4,9.4,200,2470,0.00,2.17,0.00,0.000,6,0.000,0.034,3146,1806,1092,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2594,0.88,198.2,47.3,9.1,215,2605,0.00,2.15,0.00,0.000,4,0.000,0.047,3146,3204,1091,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2632,0.88,198.2,43.6,9.7,220,2643,0.00,2.12,0.00,0.000,6,0.000,0.033,3157,1799,1091,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2720,0.89,201.2,35.3,8.4,233,2731,0.00,2.20,0.00,0.000,4,0.000,0.054,3167,389,1091,0,0,0,0,0,0,28.83,25.16,28.83
$GC,2871,0.89,201.2,19.1,11.4,256,2882,0.12,2.12,0.00,0.000,6,0.158,0.036,3137,1800,1091,0,0,0,0,0,0,25.71,25.80,28.83
$GC,2959,1.06,338.1,12.7,4.4,269,3101,0.12,2.28,121.93,0.505,4,0.085,0.044,3199,3197,547,0,0,0,0,2,0,25.82,24.91,24.53
$STATE,3108,end climb,SURFACE_DEPTH_REACHED
$STATE,3108,begin surface coast
$FINISH,0.9,1.006306
$STATE,3115,end surface coast,CONTROL_FINISHED_OK
$STATE,3115,begin surface
$SM_CCo,3194,0.00,0.000,0,0,551,332.62
$SM_GC,1.70,8.52,2.03,0.00,0.037,0.033,0.000,126,1944,551,-8.43,0.96,332.62,0,0,0,0,0,0,25.11,25.06,28.83
$IRIDIUM_FIX,4751.72,-12340.51,160414,060650
$TT8_MAMPS,0.095872,0.095872
$HUMID,31.53
$INTERNAL_PRESSURE,8.85019
$TCM_TEMP,18.90
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,23
$MI_LOG,3.4/516036/498651
$MI_ROOT,70.5/190403/56160
$MI_HOME,2.7/436382/424547
$24V_AH,24.1,1.995
$10V_AH,10.3,1.207
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.700,52.725,434.875,0.000,0.000,30.820,33.623,524.470,0.000,4424.100,40.441,0.000,867.262,347.232,2764.872,99.487,33.246,963.078,0.000,520.194,0.000,0.000,0.000
$DEVICE_MAMPS,237.915,65.790,615.825,0.000,0.000,60.440,160.000,223.000,0.000,43.360,30.710,0.000,0.390,12.960,38.430,45.170,63.140,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,188.956,0.000,0.000,0.000,0.000,0.000,4424.200,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.773,0.000,0.000,0.000
$MEM,198036
$DATA_FILE_SIZE,10173,284
$CAP_FILE_SIZE,145474,0
$CFSIZE,260034560,257355776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,160414,072115,4744.611,-12224.492,3,0.9,38,16.3